Modular control system for an engineering vehicle, fault detection method and engineering vehicle

Abstract

The application relates to the technical field of engineering vehicles and provides an engineering vehicle modular control system, a fault detection method and an engineering vehicle. The system comprises at least two control systems, each of the control systems comprises at least one of a controller module, an IO module and a power distribution module, and the controller module, the IO module and the power distribution module are connected in the form of bus branches on a main line of a bus. That is, in the application, the control systems are divided, each of the control systems has at least one of three functional modules of the controller module, the IO module and the power distribution module, each of the functional modules is connected on the main line as a branch line, thereby forming a distributed control system. Since each of the functional modules is connected in the form of a bus structure, the number of hard wires is reduced, thereby solving the problems of a large number of wire harness connectors, dense wire harnesses and frequent faults. Even if a fault occurs, the distributed control system in the form of the bus structure is easy to troubleshoot and maintain.

Description

Technical Field

[0001] This invention relates to the field of engineering vehicle technology, and in particular to a modular control system for engineering vehicles, a fault detection method, and an engineering vehicle. Background Technology

[0002] Fire trucks, whether using imported or domestic chassis, are generally modified from Class II chassis. This involves adding one or more of the following components to the Class II chassis: a power take-off (PTO) system, piping, valves, fire pumps and fire monitors, a power unit, supports, and a boom assembly. The fire truck obtains power from the engine on the chassis via the PTO system, which drives the power unit to deploy the supports and boom assembly, then drives the fire pump to deliver extinguishing media to the fire monitors to complete the firefighting operation. All these operations and controls require a control system. Currently, most superstructure control systems use centralized or hybrid systems. All power distribution and control are concentrated in the control cabinet and then distributed to various parts of the vehicle. Bus and signal lines often run from the furthest point to the control cabinet and back again, resulting in numerous wiring harness connectors, dense wiring, frequent malfunctions, and difficulties in troubleshooting and maintenance. These problems exist for all engineering vehicles besides fire trucks. Summary of the Invention

[0003] This invention provides a modular control system for engineering vehicles, a fault detection method, and an engineering vehicle, to solve the problems of numerous wiring harness connectors, dense wiring harnesses, easy fault occurrence, difficulty in troubleshooting, and difficult maintenance in the centralized or hybrid control systems of engineering vehicles in the prior art.

[0004] This invention provides a modular control system for an engineering vehicle, comprising: at least two control systems, each control system being used to control different devices within the engineering vehicle, each control system comprising: at least one of a controller module, an I / O module, and a power distribution module, wherein the controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches; Each of the aforementioned IO modules is used to acquire the status signals of each device within its control system and output the status signals to the main line; Any of the controller modules is used to acquire the status signal from the main line and send control commands to at least one of the IO modules and power distribution modules on the main line; Each of the power distribution modules is used to distribute power to the equipment in its control system based on the control command and / or to output control signals to the equipment in its control system based on the control command.

[0005] According to a modular control system for engineering vehicles provided by the present invention, the controller module, IO module and power distribution module each include: at least one bus communication interface; And / or, The power distribution module also includes at least one of the following: a multi-channel self-resetting fuse and a bus-controlled relay.

[0006] According to the modular control system for engineering vehicles provided by the present invention, the controller module, IO module and power distribution module all further include a bus switching interface, and each of the controller module, IO module and power distribution module is provided with a backup bus branch between itself and the main line. The controller module, IO module and power distribution module respectively switch the bus branch or the backup bus branch to connect to the main line through their respective bus switching interfaces.

[0007] According to the present invention, a modular control system for an engineering vehicle is provided, wherein the engineering vehicle is a fire truck, and the fire truck includes: a chassis control system, an off-vehicle control system, and an on-vehicle control system; The chassis control system includes: a first I / O module and a first power distribution module; The vehicle disembarkation control system includes: a controller module, a second I / O module, and a second power distribution module; The vehicle control system includes a third I / O module and a third power distribution module.

[0008] The present invention also provides a fault detection method for a modular control system of an engineering vehicle. The modular control system of the engineering vehicle includes at least two control systems, each of which is used to control different devices in the engineering vehicle. Each control system includes at least one of a controller module, an I / O module, and a power distribution module. The controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches. The fault detection method is used in any module and includes: Send a life signal to the main line and receive life signals sent by other modules on the main line; Based on the ID number of the life signal sent by other modules, it is determined whether the other modules are located to the left or right of any of the modules. Identify communication failures between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failures.

[0009] According to the fault detection method of the modular control system of engineering vehicles provided by the present invention, the ID number of the life signal is compiled from left to right in ascending order according to the position of its corresponding module on the main line. The determination of whether other modules are located to the left or right of any given module based on the ID number of the life signal sent by other modules includes: The ID number of the life signal sent by other modules is compared with the ID number of the life signal of any module itself. If the ID number of the life signal sent by other modules is less than the ID number of the life signal of any module itself, the other modules are located to the left of any module; otherwise, the other modules are located to the right of any module.

[0010] According to a fault detection method for a modular control system of an engineering vehicle provided by the present invention, the step of determining a communication fault between any module and other modules on the left and right sides, and determining the location of the fault based on the communication fault, includes: In the event of a communication failure with all modules on the left, determine that the main line fault is located adjacent to the left side of any given module. In the event of a communication failure with all modules on the right, determine that the main line fault is located adjacent to the right side of any module. In the event of a communication failure with all modules on the left and right sides, determine whether the bus branch of any module itself is faulty or whether the main line adjacent to either side of any module is faulty.

[0011] According to a fault detection method for a modular control system of an engineering vehicle provided by the present invention, in the event of a communication failure with all modules on the left, determining a fault in the main line adjacent to the left side of any module includes: The first number of modules is obtained from the left side, and the second number of communication failures obtained from the left side is also counted. If the first quantity is greater than 0 and the second quantity is equal to the first quantity, determine that the main line fault is adjacent to the left side of any module, and report the main line fault adjacent to the left side. If the first quantity is greater than 0 and the second quantity is less than the first quantity, it is determined that the main line adjacent to the left side of any module is normal. And / or, In the event of a communication failure with all modules on the right, determining a main line fault adjacent to the right side of any given module includes: The number of modules obtained from the right side is the third count, and the number of communication failures obtained from the right side is the fourth count; If the third quantity is greater than 0 and the fourth quantity is equal to the third quantity, determine that the main line fault is adjacent to the right side of any module and report the main line fault adjacent to the right side. If the third quantity is greater than 0 and the fourth quantity is less than the third quantity, it is determined that the main line adjacent to the right side of any module is normal.

[0012] According to the fault detection method of the modular control system of engineering vehicle provided by the present invention, the controller module, IO module and power distribution module further include a bus switching interface, and each of the controller module, IO module and power distribution module is provided with a backup bus branch between itself and the main line. The controller module, IO module and power distribution module switch the bus branch or the backup bus branch to connect to the main line through their respective bus switching interfaces. In the event of a communication failure with all modules on the left and right sides, the method further includes: switching the bus branch to a backup bus branch through the bus switching interface, so as to connect any module to the main line through the backup bus branch, and start executing the steps of sending a life signal to the main line and receiving life signals sent by other modules on the main line. Upon receiving a life signal from any other module, it is determined that any of those modules has experienced a fault in its own bus branch. If only the life signal from the left module is received within a preset time threshold, it is determined that the bus branch of any module has failed, and the main line adjacent to the right side of any module has failed. If only a life signal from the right module is received within the preset time threshold, it is determined that a fault has occurred in the bus branch of any module, and a fault has also been determined in the main line adjacent to the left side of any module. If no life signal is received from any other module within the preset time threshold, it is determined that the main line adjacent to the left and the main line adjacent to the right of any module are both faulty.

[0013] The present invention also provides an engineering vehicle, including the engineering vehicle modular control system described in any of the above claims.

[0014] The present invention provides a modular control system, a fault detection method, and an engineering vehicle. The system includes at least two control systems, each control system being used to control different devices within the engineering vehicle. Each control system includes at least one of a controller module, an I / O module, and a power distribution module. The controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches. Any I / O module is used to acquire status signals of each device within its control system and output the status signals to the main line. Any controller module is used to acquire the status signals from the main line and send control commands to at least one of the I / O module and the power distribution module. Any power distribution module is used to distribute power to the devices within its control system based on the control commands and / or output control signals to the devices within its control system based on the control commands. In this invention, the control system is divided into zones. Each control system has at least one of three functional modules: an independent controller module, an I / O module, and a power distribution module. Each functional module is connected to the main line as a branch line, thus forming a distributed control system. Since each functional module is connected by a bus structure, the number of hard wires is reduced, thereby solving the problems of numerous wire harness connectors, dense wire harnesses, and easy fault occurrence. Moreover, even if a fault occurs, the distributed control system with a bus structure is easy to troubleshoot and maintain. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the logic structure of the modular control system for engineering vehicles provided by the present invention; Figure 2 This is a schematic diagram of the logic structure of the modular control system for fire trucks provided by the present invention; Figure 3 This is a schematic diagram of the bus structure of the modular control system for engineering vehicles provided by the present invention; Figure 4 This is a schematic diagram of the fault detection method for the modular control system of engineering vehicles provided by the present invention; Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] This invention discloses a modular control system for engineering vehicles, comprising at least two control systems, each controlling different devices within the engineering vehicle. Each control system includes at least one of a controller module, an I / O module, and a power distribution module. The controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches. The bus includes, but is not limited to, one or more combinations of CAN bus, 485 bus, and Ethernet communication. It should be noted that the selection of the controller module, I / O module, and power distribution module varies depending on the specific circumstances of different control systems in different engineering vehicles. For example, a control system may not have devices requiring direct power supply, therefore, it may not have a power distribution module. Figure 1 As shown, a modular control system for an engineering vehicle with N (N ≥ 2) control systems is illustrated. The i-th control system includes at least one of the following: the i-th controller module, the i-th I / O module, and the i-th power distribution module, for example: Figure 1 In the modular control system for engineering vehicles, only the second control system includes a second controller module, a second I / O module, and a second power distribution module; the other control systems only include an I / O module and a power distribution module. The specific control system may include one or more of these three modules—controller module, I / O module, and power distribution module—depending on the actual situation.

[0019] Each of the aforementioned IO modules is used to acquire the status signals of each device within its control system and output the status signals to the main line.

[0020] Each of the controller modules is used to acquire the status signal from the main line and send control commands to at least one of the IO modules and power distribution modules on the main line.

[0021] Each of the power distribution modules is used to distribute power to the equipment in its control system based on the control command and / or to output control signals to the equipment in its control system based on the control command.

[0022] like Figure 2 and 3As shown, taking a fire truck as an example, the fire truck is divided into three control systems according to its control area. The fire truck includes: chassis control system 100, lower vehicle control system 200, and upper vehicle control system 300.

[0023] The chassis control system 100 includes a first I / O module 101 and a first power distribution module 102. The first I / O module 101 acquires status signals from each device within the chassis control system 100 and outputs these status signals to the main circuit. The first power distribution module 102 distributes power to the devices within the chassis control system 100 and / or outputs control signals to the devices within the chassis control system 100 based on control commands from the controller module on the bus. If there is no controller module in this control system, it is controlled by a controller module in another control system; that is, the controller module 201 of the alighting control system 200 can be used to control the first I / O module 101 and the first power distribution module 102.

[0024] The alighting control system 200 includes a controller module 201, a second I / O module 202, and a second power distribution module 203. The controller module 201 acquires the status signals from the main line and sends control commands to at least one of the I / O modules and the power distribution module. Specifically, the controller module 201 acquires the status signals sent to the main line by the first I / O module 101, the first power distribution module 102, the second I / O module 202, the second power distribution module 203, the third I / O module 301, and the third power distribution module 302. It then sends control commands to at least one of these modules. The second I / O module 202 acquires the status signals of each device within the alighting control system 200 and outputs these status signals to the main line. The second power distribution module 203 distributes power to the devices within the alighting control system 200 and / or outputs control signals to the devices within the alighting control system 200 based on the control commands.

[0025] The vehicle control system 300 includes a third I / O module 301 and a third power distribution module 302. The third I / O module 301 is used to acquire the status signals of each device within the vehicle control system 300 and output the status signals to the main line. The third power distribution module 302 distributes power to the devices within the vehicle control system 300 and / or outputs control signals to the devices within the vehicle control system 300 based on the control commands from the controller module 201.

[0026] In the modular control system for engineering vehicles of this invention, the system is divided into zones, with each control system having at least one of three functional modules: a controller module, an I / O module, and a power distribution module. Each functional module is connected as a branch line to the main line, thus forming a distributed control system. Because each functional module is connected using a bus structure, the number of hardwired wires is reduced, thereby solving the problems of numerous wiring harness connectors, dense wiring, and susceptibility to faults. Furthermore, even if a fault occurs, the distributed control system with its bus structure facilitates troubleshooting and maintenance. In addition, the modular control system can be modularly assembled with the mechanical structure, using connectors at the joints, unaffected by process steps, thus improving assembly efficiency.

[0027] In some embodiments, the controller module, I / O module, and power distribution module each include at least one bus communication interface. Depending on the specific equipment in the control system, the I / O module further includes: a digital input interface, an analog input interface, a pulse input interface, a digital output interface, an analog output interface, and a pulse output interface. The power distribution module further includes at least one of: a multi-channel self-resetting fuse and a bus-controlled relay.

[0028] Taking a fire truck as an example, in the chassis control system 100, the first IO module 101 is used to collect chassis hard-wired signals (key, reverse, neutral, steering, clutch feedback, force take-off feedback) and other DI (digital input) signals, as well as signals communicating with the engine bus, and output clutch, force take-off and other DO (digital output) signals and alarm signals (outrigger boom box door status indication signals), etc.; the first power distribution module 102 is used to distribute power to the control equipment of the cab instruments (rocker switch, 360 system, alarm, inverter, switching power supply) and water system, etc.

[0029] In the alighting control system 200, the controller module 201 serves as the data and control center, controlling the chassis control system 100, the alighting control system 200, and the upper vehicle control system 300. It is connected to each module via the main line and obtains control data from the I / O modules and power distribution modules of each control system, determining the communication status of each I / O module and power distribution module. The second I / O module 202 is used to collect the digital input (DI), analog input (AI), and pulse input (PI) signals from the sensors of the water system, hydraulic system, and support system in the alighting control system 200, and outputs digital output (DO), analog output (AO), and pulse output (PWM) signals to the water system, hydraulic system, and support system, as well as control signals for bus-type devices (such as bus-type multi-way valves). The second power distribution module 203 is used to distribute power to display and control equipment, sensors, motor-type power devices, and lighting fixtures.

[0030] In the upper control system 300, the third I / O module 301 is used to acquire the digital input (DI) and analog input (AI) signals from the sensors of the boom system; and outputs control signals to the digital output (DO), analog output (AO), pulse output (PWM) signals of the boom system, as well as bus-type devices (such as bus-type multi-way valves). The third power distribution module 302 is used to distribute power to control equipment such as sensors, motor-type power devices, and lighting fixtures.

[0031] For example, in the aisle control system 200, there is usually a fan for cooling the oil pump. The second IO module 202 obtains the current temperature of the oil pump (which can be obtained by a temperature sensor that monitors the oil pump temperature) and sends the current temperature to the controller module 201 through the main line. When the controller module 201 determines that the current temperature is greater than the temperature threshold, it sends a control command to the second power distribution module 203, so that the second power distribution module 203 supplies power to the fan and controls the relay connected to the fan to activate the line between the fan and the power supply, thereby making the fan work.

[0032] For engineering vehicles, especially fire trucks, various power distribution devices, relays, sensors, controllers, and other bus or hard-wired components are required in each control system to perform complex functions such as leveling and boom-cannon linkage. The control system is large and centralized, with a complex and non-standard bus structure. Furthermore, a single-bus approach can lead to system paralysis or functional loss when a bus branch fails, resulting in poor reliability. Therefore, in some embodiments, the controller module, I / O module, and power distribution module all include a bus switching interface. Each controller module, I / O module, and power distribution module also has a backup bus branch connected to the main line. The controller module, I / O module, and power distribution module switch between their respective bus branches or backup bus branches to connect to the main line via their bus switching interfaces. This achieves dual-redundant bus connections between each controller module, I / O module, and power distribution module and the main line, reducing hard wiring. The modules automatically switch bus branches internally via the bus switching interface, resulting in higher intelligence and reliability. It can also self-detect faults in the main line or the module's own branch lines, leading to better troubleshooting.

[0033] The fault detection method of the modular control system for engineering vehicles provided by the present invention is described below. The fault detection method of the modular control system for engineering vehicles described below can be referred to in correspondence with the modular control system for engineering vehicles described above.

[0034] This invention provides a fault detection method for a modular control system of engineering vehicles. This method is based on the aforementioned modular control system and is applicable to any module within the system, such as... Figure 4 As shown, the method includes: Step S410: Send a life signal (also known as a heartbeat signal) to the main line and receive life signals sent by other modules on the main line. Under normal conditions, each module can receive life signals sent by other modules.

[0035] Step S420: Based on the ID number of the life signal sent by other modules, determine whether the other modules are located to the left or right of any of the modules.

[0036] Step S430: Determine the communication failure between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failure. Specifically, if no life signal is received from any other module on the left or right side, it is considered that a communication failure has occurred between any module and that other module.

[0037] In this embodiment, the above-mentioned fault detection method can quickly locate the specific location of the fault on the bus, making it easier for maintenance personnel to troubleshoot and maintain the fault.

[0038] In some embodiments, the ID number of the life signal is assigned from left to right, ascending order, according to the position of its corresponding module on the main line. Based on this, step S420 includes: The ID number of the life signal sent by other modules is compared with the ID number of the life signal of any module itself. If the ID number of the life signal sent by other modules is less than the ID number of the life signal of any module itself, the other modules are located to the left of any module; otherwise, the other modules are located to the right of any module.

[0039] By assigning ID numbers to life signals in ascending order from left to right based on the position of the corresponding module on the main line, the source of the life signal can be easily located, thereby pinpointing the location of the fault.

[0040] In some embodiments, step S430 includes: If a communication failure occurs with all modules on the left, i.e. no life signal is received from any module on the left, it is determined that the main line adjacent to the left of any module is faulty. If a communication failure occurs with all modules on the right, i.e. no life signal is received from any module on the right, it is determined that the main line adjacent to the right of any module is faulty. If a communication failure occurs with all modules on the left and right sides, i.e. no life signals are received from either side, it is determined that either module itself has a bus branch failure or the main line adjacent to either side of either module has a failure.

[0041] Specifically, in the event of a communication failure with all modules on the left, determining the main line fault adjacent to the left side of any given module includes: The number of modules on the left is obtained as a first quantity, and the number of communication faults obtained from the left is counted as a second quantity. According to the bus protocol and the steps of S420 above, each module on the main line can obtain the total number of modules on the main line and the number of modules on the left and right sides. During the life signal transmission period, the number of life signals received from the left is counted, and the first quantity minus the number of life signals from the left is recorded as the second quantity.

[0042] If the first quantity is greater than 0, meaning there are other modules on the left, and the second quantity is equal to the first quantity, it indicates that no life signal has been received on the left. It is determined that the main line adjacent to the left of any module is faulty, and the fault of the main line adjacent to the left is reported.

[0043] If the first quantity is greater than 0 and the second quantity is less than the first quantity, it indicates that a life signal can be received from the left side, confirming that the main line adjacent to the left side of any module is normal.

[0044] And / or, In the event of a communication failure with all modules on the right, determine the fault of the main line adjacent to the right side of any given module, including: The number of modules obtained from the right side is the third number, and the number of communication failures obtained from the right side is the fourth number.

[0045] If the third quantity is greater than 0, meaning there are other modules on the right, and the fourth quantity is equal to the third quantity, it indicates that no life signal has been received on the right. It is determined that the main line adjacent to the right of any module is faulty, and the fault of the main line adjacent to the right is reported.

[0046] If the third quantity is greater than 0 and the fourth quantity is less than the third quantity, it indicates that a life signal can be received from the right side, confirming that the main line adjacent to the right side of any module is normal.

[0047] By comparing the number of communication failures on one side with the number of other modules on that side, it is easy and quick to determine whether the main line adjacent to a certain side of any module has failed.

[0048] In some embodiments, the controller module, I / O module, and power distribution module each further include a bus switching interface, and each of the controller module, I / O module, and power distribution module is also provided with a backup bus branch between itself and the main line. The controller module, I / O module, and power distribution module switch between the bus branch and the backup bus branch connected to the main line through their respective bus switching interfaces. Based on this, in the event of a communication failure with all modules on the left and right sides, the system further includes: The bus branch is switched to a backup bus branch through the bus switching interface, so that any module can be connected to the main line through the backup bus branch, and the steps of S410 above are started.

[0049] Upon receiving a life signal from any other module, it is determined that any of those modules has experienced a fault in its own bus branch.

[0050] If only a life signal is received from the left module within a preset time threshold, it is determined that a fault has occurred in the bus branch of any module, and a fault has also been determined in the main line adjacent to the right of any module. The preset time threshold can be based on the life signal transmission cycle. For example, if only a life signal is received from the left module for three consecutive life signal transmission cycles, it is determined that a fault has occurred in the bus branch of any module, and a fault has also been determined in the main line adjacent to the right of any module.

[0051] If only a life signal from the right module is received within the preset time threshold, it is determined that a fault has occurred in the bus branch of any module, and a fault has also been determined in the main line adjacent to the left side of any module.

[0052] If no life signal from any other module is received within the preset time threshold, it is determined that the main line adjacent to the left and right of any module is faulty. It should be noted that the backup bus branch is for backup purposes and will not send fault signals before use. Under this premise, after the bus branch is switched to the backup bus branch, it can be determined that the main line adjacent to the left and right of any module is faulty only if no life signal from any other module is received within the preset time threshold.

[0053] In the event of a communication failure with all modules on the left and right sides, the module can automatically switch bus branches through the bus switching interface, which is intelligent and more reliable. It can also further self-detect faults in the main line or the module's own branch lines, resulting in better troubleshooting.

[0054] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute the fault detection method of the modular control system for engineering vehicles provided by the above methods, which includes: Send a life signal to the main line and receive life signals sent by other modules on the main line.

[0055] Based on the ID number of the life signal sent by other modules, it is determined whether the other modules are located to the left or right of any of the modules.

[0056] Identify communication failures between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failures.

[0057] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0058] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a fault detection method for a modular control system of an engineering vehicle provided by the methods described above, the method comprising: Send a life signal to the main line and receive life signals sent by other modules on the main line.

[0059] Based on the ID number of the life signal sent by other modules, it is determined whether the other modules are located to the left or right of any of the modules.

[0060] Identify communication failures between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failures.

[0061] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular control system for engineering vehicles, characterized in that, include: At least two control systems, each of which is used to control different equipment within the engineering vehicle, each of which includes at least one of a controller module, an I / O module, and a power distribution module, wherein the controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches; Each of the aforementioned IO modules is used to acquire the status signals of each device within its control system and output the status signals to the main line; Any of the controller modules is used to acquire the status signal from the main line and send control commands to at least one of the IO modules and power distribution modules on the main line; Any of the power distribution modules is used to distribute power to the equipment in its control system based on the control command and / or to output control signals to the equipment in its control system based on the control command; Any one of the controller module, IO module, and power distribution module is further used for: Send a life signal to the main line and receive life signals sent by other modules on the main line; Based on the ID number of the life signal sent by other modules, it is determined whether the other modules are located to the left or right of any of the modules. Determine the communication failure between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failure; The process of determining communication failures between any module and other modules on the left and right sides, and determining the location of the failure based on these communication failures, includes: In the event of a communication failure with all modules on the left, determine that the main line fault is located adjacent to the left side of any given module. In the event of a communication failure with all modules on the right, determine that the main line fault is located adjacent to the right side of any module.

2. The modular control system for engineering vehicles according to claim 1, characterized in that, The controller module, IO module, and power distribution module each include at least one bus communication interface; And / or, The power distribution module also includes at least one of the following: a multi-channel self-resetting fuse and a bus-controlled relay.

3. The modular control system for engineering vehicles according to claim 2, characterized in that, The controller module, IO module, and power distribution module all include a bus switching interface, and each of the controller module, IO module, and power distribution module is also provided with a backup bus branch between itself and the main line. The controller module, IO module, and power distribution module switch between the bus branch and the backup bus branch to connect to the main line through their respective bus switching interfaces.

4. The modular control system for engineering vehicles according to any one of claims 1 to 3, characterized in that, The engineering vehicle is a fire truck, which includes: a chassis control system, an off-vehicle control system, and an on-vehicle control system. The chassis control system includes: a first I / O module and a first power distribution module; The vehicle disembarkation control system includes: a controller module, a second I / O module, and a second power distribution module; The vehicle control system includes a third I / O module and a third power distribution module.

5. A fault detection method for a modular control system of an engineering vehicle, characterized in that, The modular control system for the engineering vehicle includes at least two control systems, each of which is used to control different devices within the engineering vehicle. Each control system includes at least one of a controller module, an I / O module, and a power distribution module. The controller module, I / O module, and power distribution module are all connected to the main line of the bus in the form of bus branches. The fault detection method is used in any module and includes: Send a life signal to the main line and receive life signals sent by other modules on the main line; Based on the ID number of the life signal sent by other modules, it is determined whether the other modules are located to the left or right of any of the modules. Determine the communication failure between any module and other modules on the left and right sides, and determine the location of the failure based on the communication failure; The process of determining communication failures between any module and other modules on the left and right sides, and determining the location of the failure based on these communication failures, includes: In the event of a communication failure with all modules on the left, determine that the main line fault is located adjacent to the left side of any given module. In the event of a communication failure with all modules on the right, determine that the main line fault is located adjacent to the right side of any module.

6. The fault detection method for the modular control system of engineering vehicles according to claim 5, characterized in that, The ID number of the life signal is assigned from left to right, in ascending order, according to the position of its corresponding module on the main line. The determination of whether other modules are located to the left or right of any given module based on the ID number of the life signal sent by other modules includes: The ID number of the life signal sent by other modules is compared with the ID number of the life signal of any module itself. If the ID number of the life signal sent by other modules is less than the ID number of the life signal of any module itself, the other modules are located to the left of any module; otherwise, the other modules are located to the right of any module.

7. The fault detection method for the modular control system of engineering vehicles according to claim 5, characterized in that, The step of determining communication failures between any module and other modules on the left and right sides, and determining the location of the failure based on the communication failures, further includes: In the event of a communication failure with all modules on the left and right sides, determine whether the bus branch of any module itself is faulty or whether the main line adjacent to either side of any module is faulty.

8. The fault detection method for the modular control system of engineering vehicles according to claim 5, characterized in that, In the event of a communication failure with all modules on the left, determining the fault of the main line adjacent to the left side of any given module includes: The first number of modules is obtained from the left side, and the second number of communication failures obtained from the left side is also counted. If the first quantity is greater than 0 and the second quantity is equal to the first quantity, determine that the main line fault is adjacent to the left side of any module, and report the main line fault adjacent to the left side. If the first quantity is greater than 0 and the second quantity is less than the first quantity, it is determined that the main line adjacent to the left side of any module is normal. And / or, In the event of a communication failure with all modules on the right, determining a main line fault adjacent to the right side of any given module includes: The number of modules obtained from the right side is the third number, and the number of communication failures obtained from the right side is the fourth number; If the third quantity is greater than 0 and the fourth quantity is equal to the third quantity, a fault is determined to be on the main line adjacent to the right side of any module, and a fault is reported to be on the main line adjacent to the right side. If the third quantity is greater than 0 and the fourth quantity is less than the third quantity, it is determined that the main line adjacent to the right side of any module is normal.

9. The fault detection method for the modular control system of engineering vehicles according to claim 7, characterized in that, The controller module, IO module, and power distribution module all include a bus switching interface, and each of the controller module, IO module, and power distribution module is also provided with a backup bus branch between itself and the main line. The controller module, IO module, and power distribution module switch between the bus branch and the backup bus branch to connect to the main line through their respective bus switching interfaces. In the event of a communication failure with all modules on the left and right sides, the method further includes: switching the bus branch to a backup bus branch through the bus switching interface, so as to connect any module to the main line through the backup bus branch, and start executing the steps of sending a life signal to the main line and receiving life signals sent by other modules on the main line. Upon receiving a life signal from any other module, it is determined that any of those modules has experienced a fault in its own bus branch. If only the life signal from the left module is received within a preset time threshold, it is determined that the bus branch of any module has failed, and the main line adjacent to the right side of any module has failed. If only a life signal from the right module is received within the preset time threshold, it is determined that a fault has occurred in the bus branch of any module, and a fault has also been determined in the main line adjacent to the left side of any module. If no life signal is received from any other module within the preset time threshold, it is determined that the main line adjacent to the left and the main line adjacent to the right of any module are both faulty.

10. An engineering vehicle, characterized in that, Including the modular control system for engineering vehicles as described in any one of claims 1 to 4.

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